CN110622090A - Cloud deck and calibration method thereof, unmanned aerial vehicle and computing equipment - Google Patents
Cloud deck and calibration method thereof, unmanned aerial vehicle and computing equipment Download PDFInfo
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- CN110622090A CN110622090A CN201880029819.7A CN201880029819A CN110622090A CN 110622090 A CN110622090 A CN 110622090A CN 201880029819 A CN201880029819 A CN 201880029819A CN 110622090 A CN110622090 A CN 110622090A
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Abstract
A method of calibrating a pan-tilt head, the pan-tilt head comprising an inertial sensor and an articulation motor, the method comprising: measuring and updating a drift value of the inertial sensor in response to determining that the state of the holder meets a preset condition; after the joint angle deviation of the joint motor is calibrated, executing joint angle centering operation and recording the current joint angle; and controlling a target attitude of the pan/tilt head based on the current joint angle. According to the cloud platform calibration method provided by the embodiment of the disclosure, after the calibration of the inertial sensor and the joint angle is completed, the target posture of the cloud platform is controlled based on the joint angle after the centering operation, so that the posture mutation of the cloud platform can be avoided, and the phenomena of shaking, random swinging and the like of the cloud platform are prevented.
Description
Technical Field
The present disclosure relates to the field of cloud deck technology, and in particular, to a cloud deck and a calibration method thereof, an unmanned aerial vehicle, and a computing device.
Background
With the popularization of unmanned aerial vehicles, handheld stabilizers and other equipment, the cloud platform technology has also entered rapid development. Taking an unmanned aerial vehicle as an example, a cradle head is generally arranged for mounting load equipment such as a camera and the like, so that real-time shooting or other required operations in the flight process are realized; because the attitude of the unmanned aerial vehicle can be changed during the flight, the cradle head can control the attitude of the cradle head to correspondingly adjust in the directions of rolling, pitching or an aviation axial direction so as to ensure the stable attitude of the load equipment. The application scene of the tripod head on the handheld stabilizer is similar.
The pan/tilt head generally implements the attitude adjustment by an inertial sensor for sensing the attitude change of the pan/tilt head and a multi-axis motor for adjusting the attitude of the pan/tilt head by sensing the result. However, electronic devices are inevitable with their own errors; for example, the null drift of the gyroscope in the inertial sensor causes the measurement attitude to drift due to the integration action even in a stationary state; the motor has angular offset (offset) in each joint, which causes the initial attitude of the pan/tilt head when the pan/tilt head is turned on to be tilted if not compensated. Therefore, in order to ensure the correctness of the initial attitude of the pan/tilt head, the null shift of the gyroscope and the offset (offset) of the joint angle need to be calibrated.
During the calibration process of the pan/tilt head, the pan/tilt head is usually required to move to a specific attitude, and switching of pan/tilt head attitude modes and updating of calibration data are involved, which may bring abrupt changes of the attitude. How to control the pan-tilt through an appropriate control strategy to avoid the problem is a problem which is always addressed by the industry.
It should be understood that the above general description is only an exemplary explanation of the related art, and does not represent prior art pertaining to the present disclosure.
Disclosure of Invention
It is an object of the present disclosure to provide a pan and tilt head, a calibration method thereof, a drone and a computing device, which overcome, at least to some extent, one or more of the problems due to the limitations and disadvantages of the related art.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or in part will be obvious from the description, or may be learned by practice of the disclosure.
According to a first aspect of embodiments of the present disclosure, there is provided a calibration method of a pan/tilt head, the pan/tilt head including an inertial sensor and a joint motor, the method comprising: measuring and updating a drift value of the inertial sensor in response to determining that the state of the holder meets a preset condition; after the joint angle deviation of the joint motor is calibrated, executing joint angle centering operation and recording the current joint angle; and controlling a target attitude of the pan/tilt head based on the current joint angle.
According to a second aspect of the embodiments of the present disclosure, there is provided a pan/tilt head including: a processor; a memory storing instructions executable by the processor; wherein the processor is configured to perform the method as described above for the first aspect of the embodiments of the present disclosure.
According to a third aspect of the embodiments of the present disclosure, there is provided an unmanned aerial vehicle including the pan/tilt head as described above in the second or third aspect of the embodiments of the present disclosure.
According to a fourth aspect of the embodiments of the present disclosure, there is provided a storage medium storing a computer program which, when executed by a processor of a computer, causes the computer to perform the method as described above in the first aspect of the embodiments of the present disclosure.
According to a fifth aspect of embodiments of the present disclosure, there is provided a computer program product, wherein instructions of the computer program product, when executed by a processor, perform the method as described above for the first aspect of embodiments of the present disclosure.
According to the cloud platform calibration scheme that this disclosed embodiment provided, after accomplishing the calibration of inertial sensor and joint angle, the target gesture of cloud platform is controlled based on the joint angle after the operation in returning, can avoid the gesture sudden change of cloud platform, and then prevents the shake of cloud platform and phenomenon such as indiscriminate flinging.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
Fig. 1 is a schematic flow chart of a calibration method of a pan/tilt head according to an embodiment of the present disclosure.
Fig. 2 is a schematic flow chart of step 102 in the embodiment of fig. 1.
Fig. 3 is a schematic flow chart of a calibration method of a pan/tilt head according to another embodiment of the present disclosure.
Fig. 4 is a schematic flow chart of a calibration method of a pan/tilt head according to still another embodiment of the present disclosure.
Fig. 5 is a schematic view of a pan-tilt structure according to an embodiment of the present disclosure.
Fig. 6 is a schematic view of a pan-tilt structure according to another embodiment of the present disclosure.
FIG. 7 is a schematic diagram of a computing device according to an embodiment of the present disclosure.
Detailed Description
The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and to practice the invention, and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As will be appreciated by one skilled in the art, embodiments of the present invention may be embodied as an apparatus, device, method, or computer program product. Accordingly, the present disclosure may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.
According to the embodiment of the invention, the invention provides a holder, a calibration method of the holder, an unmanned aerial vehicle and computing equipment.
Some terms related to the embodiments of the present invention are first explained below.
Drift, also known as zero drift or zero offset, refers to the fluctuation or fluctuation of the output signal of an inertial sensor element such as a gyroscope around its mean value, conventionally expressed as a standard deviation (σ) or Root Mean Square (RMS), generally converted to an equivalent input angular rate (°/h). When the input of the angular velocity is zero, the output of the inertial sensor is a curve of slowly changing composite white noise signals, and the peak-to-peak value of the curve is zero offset. In the whole performance index set, the zero offset is one of the most important indexes for evaluating the performance of the inertial sensor.
The joint angle offset (bias) is a difference between a calibrated zero position and an actual zero position. Taking the yaw (yaw) axis in the euler angular coordinate system as an example, it is generally specified that the joint angle is zero when the pan/tilt head is completely aligned with the base head on which the pan/tilt head is mounted, and if the joint angle is not zero when the pan/tilt head is aligned with the base head, the joint angle at this time is the joint angle offset.
The closed-loop mode refers to a parameter mode for controlling the pan/tilt head or a device (e.g., an unmanned aerial vehicle or a handheld stabilizer) where the pan/tilt head is located, that is, which parameter is used to perform closed-loop control on the pan/tilt head or the device where the pan/tilt head is located.
The joint angle closed loop, also referred to herein as a joint angle mode, is one of the closed loop modes, and refers to performing closed loop control on the pan/tilt head or the device in which the pan/tilt head is located by using only the rotation angle of the joint motor. The pan-tilt generally includes a plurality of joint motors, so the joint angle closed loop is controlled by taking each joint motor as an individual control object.
The attitude closed loop, also referred to herein as an attitude mode, or another closed loop mode, refers to a mode in which the attitude of the pan/tilt head is controlled, the current attitude of the pan/tilt head is detected by a measurement element, closed loop control is performed based on the target attitude, and a joint motor of the pan/tilt head is driven to achieve the target attitude.
The posture correction mode comprises three conditions of a normal posture mode, a false posture mode and a posture invalid mode (atti _ mode _ none) according to different data sources.
The normal attitude mode is also called an attitude stability augmentation mode, and in the normal attitude mode, the attitude of the pan-tilt is obtained by fusing the output of the inertial sensor (such as a gyroscope and an accelerometer) and external data (such as the attitude data of the unmanned aerial vehicle).
A false attitude mode in which the attitude of the pan/tilt head is derived from the gyro integral, while the gyro integral is corrected using the data of the joint angle.
Attitude null mode (atti _ mode _ none), in which the attitude of the pan/tilt head is only integrated by the gyroscope, without any correction.
The centering is an operation of returning the pan/tilt head to the initial state. For example, in the attitude closed loop, attitude centering refers to returning the pan head to the zero position of euler's angle, including yaw angle (yaw) back to alignment with the base head, pitch angle (pitch) and roll angle (roll) back to horizontal position. For example, in the closed joint angle loop, the joint angle return means that each joint motor of the pan/tilt head is returned to a state in which the joint angle is zero, and includes positions in which all the joint motors corresponding to the three angles of yaw, pitch, and roll are returned to zero degrees.
The principles and spirit of the present invention are explained in detail below with reference to several representative embodiments of the invention.
Fig. 1 is a schematic flow chart of a calibration method of a pan/tilt head according to an embodiment of the present disclosure. The cloud platform of this embodiment can install on equipment such as unmanned aerial vehicle, including cloud platform axle and cloud platform motor and inertial sensor, inertial sensor includes accelerometer and gyroscope. As shown in fig. 1, the method of the present embodiment includes the following steps 101-103.
In step 101, in response to determining that the state of the pan/tilt head satisfies a preset condition, a drift value of the inertial sensor is measured and updated.
Traditional cloud platform calibration strategy, it can go the operation according to required calibration condition to acquiesce the user generally, however in reality the user often can bring in many irregular operations, for example the user just calibrates when unmanned aerial vehicle inclines, can bring very big wrong calibration data this moment, and then can't pass through the self-checking when making the cloud platform start, just also can't normal use cloud platform, consequently has very big risk.
According to the embodiment of the disclosure, before the calibration of the pan/tilt head is started, whether the state of the pan/tilt head meets the preset condition is determined. And only when the state of the holder is determined to meet the preset condition, performing subsequent calibration operation.
In one embodiment, determining whether the state of the pan/tilt head satisfies a predetermined condition may include determining whether the pan/tilt head is capable of entering an attitude stabilization mode.
If the cradle head is just started, the calibration command is directly received while waiting for external data (e.g. flight control data from the drone), and if the calibration is entered but the cradle head cannot be controlled (because the external data is not received), the cradle head may be stuck in the calibration and cannot normally operate. Only when the cradle head can enter the attitude stability augmentation mode through limitation in the embodiment, the cradle head calibration can be carried out, so that the problems are solved.
For example, when a pan/tilt head carried by the unmanned aerial vehicle is started, a closed-loop mode is switched to an attitude closed loop, and the pan/tilt head is locked to the current position without external input; when flight control data from the unmanned aerial vehicle are received, attitude data (such as gyroscope integral) of the cradle head is corrected, and when a convergence state is reached (the corrected rear difference fluctuation is smaller than a preset range), the cradle head can judge that the cradle head can enter an attitude stability augmentation mode.
In one embodiment, determining whether the state of the pan/tilt head satisfies the preset condition may further include determining whether the pan/tilt head is horizontal.
If the calibration is carried out in the state that the holder is not horizontal, the obtained calibration data are also wrong, and the traditional calibration strategy only depends on the user operation to confirm the horizontal state of the holder and is not reliable. In this embodiment, when the pan/tilt calibration is started, it is first determined whether the pan/tilt is horizontal based on the detection data. Further, in one embodiment, whether the pan/tilt head is level may be determined based on, for example, external data incoming by the drone. On the premise that the cradle head is confirmed to enter the attitude stability augmentation mode in the foregoing embodiment, the cradle head in this embodiment can receive externally-transmitted detection data, and further determine the horizontal state of the cradle head.
In one embodiment, when it is determined that the state of the pan/tilt head satisfies the preset condition, step 101 may further include performing a joint angle centering operation, and switching the control mode of the pan/tilt head to the attitude mode after the attitude of the pan/tilt head is stabilized.
If the calibration is carried out under the unstable state of the holder, the obtained calibration data is also inaccurate, and the traditional calibration strategy only depends on the user operation to confirm the stable state of the holder and is unreliable. In this embodiment, when the calibration of the pan/tilt head is started, the control mode of the pan/tilt head is switched to the attitude mode by performing the centering operation in the joint angle mode, and after the attitude is stable, the calibration of the inertial sensor is ready to be performed, so that the problem of inaccurate calibration data caused by recording of calibration data due to unstable attitude can be solved.
In this step, the integral of the gyroscope within a period of time can be measured in the static state of the holder, and then the average value is calculated according to the time, so that the drift value of the gyroscope within unit time, namely the zero drift, can be obtained.
In one embodiment, the drift value obtained in this step may be written into a flash memory of the pan/tilt head, and the measured value of the gyroscope may be corrected based on the drift value stored in the flash memory before shutdown.
In step 102, after the joint angle offset of the joint motor is calibrated, a joint angle centering operation is performed.
In one embodiment, the calibration of the joint angle offset in step 102 may be performed based on hall values of the joint motors.
Fig. 2 illustrates one embodiment of step 102. As shown in fig. 2, the calibration of the joint angle offset of the joint motor in this embodiment includes steps 201 and 204.
In step 201, the euler angle of the holder is rotated from 0 ° to n °, and the first hall value of the joint motor is recorded.
In step 202, the Euler angle of the pan/tilt head is rotated from n degrees to-n degrees, and a second Hall value of the joint motor is recorded.
In step 203, the joint angle offset is updated based on the first hall value and the second hall value.
Here, n is a positive integer less than 180, for example 30.
Assuming that the first and second hall values obtained in steps 201 and 202 are a and b, respectively, step 203 may calculate the joint angle offset O based on the following equation.
O＝(a+b)/2
In one embodiment, the joint angle offset value obtained in this step may be written into a flash memory of the pan/tilt head, and the measured value of the joint angle may be corrected based on the offset value stored in the flash memory before shutdown.
In one embodiment, the head includes a plurality of joint motors, for example, joint motors corresponding to the respective axes yaw, pitch, and roll. Correspondingly, the euler angles in the embodiment shown in fig. 2 also include yaw, pitch, roll. In other words, the calibration of the joint angle offset can be performed for the three joint motors according to the steps of the embodiment of fig. 2.
Additionally, in one embodiment, the updating of the inertial sensor drift value of step 101 and the calibration of the joint angle offset of step 102 may be performed in a loop multiple times. For example, a counter is provided to control the number of times of loop execution, the counter is incremented after the joint angle offset of the joint motor is calibrated in step 102, and compared with the preset number of times, if the preset number of times is reached, the subsequent centering operation of the joint angle is performed, otherwise, the procedure returns to step 101 to perform the next measurement and update of the drift value of the inertial sensor.
After the joint angle offset of the joint motor is calibrated, a joint angle centering operation is performed, as described in step 102. In one embodiment, the centering operation of the joint angle comprises switching the control mode of the pan-tilt to the joint angle mode, and then returning the joint motor to a state that the joint angle is zero.
In step 103, the target attitude of the pan/tilt head is controlled based on the current joint angle.
In the process of calibrating the joint angle offset, in order to avoid the influence of the inertial sensor on the joint angle offset, the control mode of the holder can be switched to an attitude invalid mode, and the measurement attitude is calculated only by depending on the joint angle. After the calibration is finished, the control mode is switched to the joint angle mode to carry out centering operation, and then the attitude stability augmentation mode is switched back to enable the holder to enter a state ready for use. Before and after the switching of the control mode, the attitude of the cradle head is changed suddenly due to the change of the attitude calculation mode, the traditional calibration strategy does not consider the factor, and the phenomenon that the cradle head shakes or is thrown randomly during the switching is caused.
In this embodiment, after the joint angle offset calibration and the centering operation in step 102 are completed, the target posture of the pan/tilt head is controlled based on the current joint angle, so that the pan/tilt head is prevented from being thrown randomly due to sudden change of the posture.
In one embodiment, the step 103 of controlling the target attitude of the pan/tilt head based on the current joint angle includes switching the control mode of the pan/tilt head to an attitude stabilization mode, and assigning the target attitude to an attitude measurement value corresponding to the current joint angle.
In one embodiment, the method of the present disclosure further comprises the step of performing a gestural return operation after step 103. For example, bringing the yaw axis of the head back into alignment with the base head, both pitch and roll back into horizontal position; in other words, the attitudes of the pan head yaw, pitch, and roll are all returned to 0 °.
According to the cloud platform calibration method provided by the embodiment of the disclosure, after the calibration of the inertial sensor and the joint angle is completed, the target posture of the cloud platform is controlled based on the joint angle after the centering operation, so that the posture mutation of the cloud platform can be avoided, and the phenomena of shaking, random swinging and the like of the cloud platform are prevented.
Fig. 3 is a schematic flow chart of a calibration method of a pan/tilt head according to another embodiment of the present disclosure. The cloud platform of this embodiment can install on equipment such as unmanned aerial vehicle to including inertial sensor and joint motor. As shown in fig. 3, the method of the present embodiment includes the following steps 301-309.
In step 301, it is determined whether the cradle head can enter the attitude stabilization mode, if so, the next step is performed, otherwise, the current step is repeated.
In one embodiment, the determination of this step may be performed according to a preset period after the cradle head is started. Taking the cloud platform to carry on unmanned aerial vehicle as an example, if the cloud platform can normally receive the flight control data that unmanned aerial vehicle transmitted and through self-checking, show that the cloud platform can get into the posture and increase steady mode, otherwise can repeatedly carry out the judgement of this step. If the cradle head is just started, the calibration command is directly received when the flight control data are waited, and at the moment, if the calibration is started, the cradle head cannot be controlled, so that the cradle head can be always stuck to the calibration and cannot normally operate. Only when the cradle head can enter the attitude stability augmentation mode through limitation in the embodiment, the cradle head calibration can be carried out, so that the problems are solved.
In one embodiment, the cradle head determines whether the attitude augmentation mode can be entered by determining whether the cradle head can modify its own attitude data to a convergence state based on flight control data.
For example, when a pan/tilt head carried by the unmanned aerial vehicle is started, a closed-loop mode is switched to an attitude closed loop, and the pan/tilt head is locked to the current position without external input; when flight control data from the unmanned aerial vehicle are received, attitude data (such as gyroscope integral) of the cradle head is corrected, and when a convergence state is reached (the corrected rear difference fluctuation is smaller than a preset range), the cradle head can judge that the cradle head can enter an attitude stability augmentation mode.
In step 302, it is determined whether the pan/tilt head is horizontal, if so, the next step is performed, otherwise, the current step is repeated.
In one embodiment, the horizontal state of the pan/tilt head may be determined based on external detection data. Still take the cloud platform to carry on unmanned aerial vehicle as an example, this step can be based on the external data that unmanned aerial vehicle passed in, calculates whether the contained angle of cloud platform and horizontal plane is less than and predetermines the threshold value. If the value is less than the preset value, the cloud platform is in the horizontal state, so that the operation of the subsequent steps can be carried out, otherwise, the horizontal state of the cloud platform needs to be adjusted.
In one embodiment, when the cradle head is determined not to meet the level condition in step 302, a prompt message may be output to prompt the user to manually adjust the state of the cradle head. The form of the reminder message is not limited, and includes, for example, a text message that can be displayed on the controller display screen or a voice message that can be played through a speaker. Further, after the prompt message is output, the determination of this step may be performed again after a preset time has elapsed.
In another embodiment, if the cradle head is determined not to be in compliance with the horizontal condition in step 302, the calibration process of this embodiment may also be terminated directly.
In step 303, the joint angle centering operation is performed, and the control mode of the pan/tilt head is switched to the attitude mode after the attitude of the pan/tilt head is stabilized.
In order to calibrate the gyroscope, the control mode of the holder is generally switched to the attitude mode; in order to calibrate the joint angle offset, the joint motor is generally returned to the zero position, and therefore the control mode of the pan/tilt head needs to be switched to the joint angle mode, and the joint angle needs to be returned to the neutral position. Conventional calibration schemes do not take into account abrupt changes in measurement attitude that may result from attitude mode switching. In contrast, in this embodiment, after the pan/tilt head is switched to the joint angle mode, the centering operation of the joint angle is executed, and after the attitude of the pan/tilt head is stabilized, the pan/tilt head is switched to the attitude mode to prepare for subsequent gyroscope calibration.
In one embodiment, whether the attitude of the pan/tilt head is stable may be determined based on the length of time elapsed. And under the condition that the current joint angle is smaller than the preset angle value, determining that the posture of the holder is stable after a preset time period.
In step 304, the drift value of the inertial sensor is measured and updated.
The measurement and updating of the drift value may take a number of different approaches for different inertial sensors.
In one embodiment, the inertial sensor comprises a gyroscope. Accordingly, step 304 may include: under the static state of the holder, the integral of the gyroscope within a period of time is measured, and then the average value is calculated according to the time, so that the drift value of the gyroscope within unit time, namely zero drift, can be obtained.
In step 305, the control mode of the pan/tilt head is switched to the attitude nullification mode, and the joint angle offset of the joint motor is calibrated.
In the process of calibrating the joint angle offset, in order to avoid the influence of the inertial sensor on the joint angle offset, the control mode of the holder can be switched to an attitude invalid mode, and the measurement attitude is calculated only by depending on the joint angle.
In one embodiment, the calibration of the joint angle offset in step 305 may be performed based on the hall values of the joint motors, for example, including step 201 and step 203 of the embodiment shown in fig. 2.
In step 306, the value of the counter is incremented by 1, and it is determined whether the value of the counter is greater than or equal to the preset number of times, if so, the next step is performed, otherwise, the step 302 is returned to.
In the embodiment, the calibration times of the inertial sensor drift value and the joint angle offset are controlled by a counter. The more times the calibration is performed, the higher the accuracy of the calibration, but the longer the time taken accordingly. Therefore, in the present embodiment, a balance between the calibration accuracy and the time consumption can be achieved by setting an appropriate preset number of times. In one embodiment, the preset number of times may be, for example, 2-4 times.
In step 307, a joint angulation centering operation is performed.
After the calibration of the joint angle offset is completed, a new zero position of the joint motor is obtained. Therefore, after the calibration of the joint angle offset is completed, the embodiment can return the pan-tilt to the proper position by executing the joint angle centering operation, so as to enter the standby state; on the other hand, the phenomena of cradle head shaking or random throwing and the like caused by the sudden change of the attitude can be avoided when the cradle head is switched back to the attitude stability augmentation mode subsequently.
In step 308, after the cradle head posture is stabilized, the control mode of the cradle head is switched to the posture stability augmentation mode, and the target posture is assigned to the posture measurement value corresponding to the current joint angle.
Before the cradle head enters a standby state, the control mode of the cradle head is generally switched to an attitude stability augmentation mode, so that the cradle head is controlled more stably based on data obtained by fusing external data and measurement data of an inertial sensor. Conventional calibration schemes do not take into account abrupt changes in measurement attitude that may result from attitude mode switching. In contrast, after the operation in the execution joint angle returns, wait for the cloud platform gesture stable earlier in this embodiment, and then when switching the cloud platform to gesture increase steady mode, control the cloud platform with the measurement gesture that current joint angle corresponds as the target gesture to can avoid the cloud platform shake or phenomenon such as the indiscriminate fling that the gesture sudden change caused.
Similar to step 304, in one embodiment, step 308 may also determine whether the attitude of the pan/tilt head is stable based on the length of time elapsed. And under the condition that the current joint angle is smaller than the preset angle value, determining that the posture of the holder is stable after a preset time period.
In step 309, a gesture centering operation is performed.
After the calibration of the inertial sensors and joint motors is completed, the method of the present embodiment further includes the step of performing a pose centering operation. For example, bringing the yaw axis of the head back into alignment with the base head, both pitch and roll back into horizontal position; in other words, the yaw, pitch and roll of the pan/tilt are all brought back to 0 °. After the calibration of the joint motor is performed, the posture centering is performed to prevent the posture deviation caused by the update of the joint angle offset.
According to the cloud platform calibration method provided by the embodiment of the disclosure, at least the following beneficial effects can be realized:
1) by limiting that the cradle head calibration can be carried out only when the cradle head can enter the attitude stability augmentation mode, the problem that the cradle head enters the calibration but cannot be controlled, so that the cradle head can be always stuck in the calibration and cannot normally operate can be avoided;
2) the calibration is carried out when the holder is determined to be in the horizontal state, so that the problem of calibration data error caused by non-standard operation of a user can be avoided;
3) the calibration is started after the posture of the holder is stabilized, so that the problem of calibration error possibly caused by recording calibration data when the posture is not stabilized can be avoided;
4) after the calibration of the inertial sensor and the joint angle is finished, the target attitude of the holder is controlled based on the joint angle after the centering operation, so that the attitude mutation of the holder can be avoided, and the phenomena of shaking, random throwing and the like of the holder are prevented;
5) after the calibration of the joint motor is performed, the posture centering is performed to prevent the posture deviation caused by the update of the joint angle offset.
Fig. 4 is a schematic flow chart of a calibration method of a pan/tilt head according to still another embodiment of the present disclosure. The cloud platform of this embodiment can install on equipment such as unmanned aerial vehicle to including inertial sensor and joint motor. As shown in fig. 4, the method of the present embodiment includes the following steps 401 and 416.
In step 401, it is determined whether the cradle head can enter the attitude stability augmentation mode, if so, the next step is performed, otherwise, the current step is repeated after waiting for a first preset time.
Taking the cradle head carried on the unmanned aerial vehicle as an example, if the cradle head can normally receive flight control data transmitted by the unmanned aerial vehicle and the self-checking shows that the cradle head can enter an attitude stability augmentation mode, otherwise, the judgment of the step can be repeatedly executed after the first preset time.
In step 402, determining whether the holder is horizontal, if so, performing the next step, otherwise, outputting a prompt message, and repeating the current step after waiting for a first preset time.
In one embodiment, the horizontal state of the pan/tilt head may be determined based on external detection data. Still take the cloud platform to carry on unmanned aerial vehicle as an example, this step can be based on the external data that unmanned aerial vehicle passed in, calculates whether the contained angle of cloud platform and horizontal plane is less than and predetermines the threshold value. If the value is less than the preset value, the cloud platform is in the horizontal state, so that the operation of the subsequent steps can be carried out, otherwise, the horizontal state of the cloud platform needs to be adjusted.
When the cradle head is determined not to be in accordance with the horizontal condition, a prompt message can be output in the step to prompt a user to manually adjust the state of the cradle head. The form of the reminder message is not limited, and includes, for example, a text message that can be displayed on the controller display screen or a voice message that can be played through a speaker. Further, after the prompt message is output, the determination of this step may be performed again after a preset time has elapsed.
In step 403, a joint angulation centering operation is performed.
In order to calibrate the subsequent joint angle offset, the joint motor is generally returned to the zero position, so that the control mode of the pan/tilt head needs to be switched to the joint angle mode, and the joint angle needs to be returned to the neutral position.
In step 404, it is determined whether the current joint angle is less than a preset angle value and a preset time period has elapsed.
In this embodiment, whether the posture of the pan/tilt head is stable is determined based on the elapsed time. For example, in the case where the absolute value of the current joint angle is less than 0.2f, it is determined that 0.3f has elapsed, and it can be judged that the attitude of the pan/tilt head has stabilized. Where f represents floating point (float) type data, the unit is negligible.
In step 405, the control mode of the pan/tilt head is switched to the attitude mode.
In order to calibrate the inertial sensor, the control mode of the pan/tilt head is generally switched to the attitude mode. In this embodiment, after switching the cloud platform to joint angle mode, carry out the operation in returning of joint angle to treat the gesture of cloud platform stable back, just switch the cloud platform to gesture mode, can avoid just recording calibration data when the gesture is unstable and calibration error problem that probably causes, can prevent simultaneously because of the phenomenon such as the cloud platform shake that the gesture sudden change caused or in disorder get rid of.
In step 406, the drift value of the inertial sensor is measured and updated.
The measurement and updating of the drift value may take a number of different approaches for different inertial sensors. In one embodiment, the inertial sensor comprises a gyroscope. Accordingly, step 406 may include: under the static state of the holder, the integral of the gyroscope within a period of time is measured, and then the average value is calculated according to the time, so that the drift value of the gyroscope within unit time, namely zero drift, can be obtained.
In step 407, the control mode of the pan/tilt head is switched to the attitude nullification mode.
In the process of calibrating the joint angle offset, in order to avoid the influence of the inertial sensor on the joint angle offset, the control mode of the holder can be switched to an attitude invalid mode, and the measurement attitude is calculated only by depending on the joint angle.
In step 408, the euler angle of the pan/tilt head is rotated from 0 ° to 30 °, and the first hall value of the joint motor is recorded.
In step 409, the euler angle of the pan/tilt head is rotated from 30 ° to-30 °, and the second hall value of the joint motor is recorded.
In step 410, the Euler angle of the pan and tilt head is rotated from-30 to 0.
In step 411, the joint angle offset is updated based on the average of the first and second hall values.
Step 408 and 411 are based on the embodiment shown in fig. 2 to calibrate the joint angle offset, where n is 30.
In step 412, the counter is incremented by 1, and it is determined whether the counter is greater than or equal to 2, if so, the next step is performed, otherwise, the step 402 is returned to.
In the embodiment, the calibration times of the inertial sensor drift value and the joint angle offset are controlled by a counter. The more times the calibration is performed, the higher the accuracy of the calibration, but the longer the time taken accordingly. Therefore, in the present embodiment, a certain balance between the calibration accuracy and the time consumption can be achieved by setting the preset number of times to 2.
In step 413, a joint angulation centering operation is performed.
After the calibration of the joint angle offset is completed, a new zero position of the joint motor is obtained. Therefore, after the calibration of the joint angle offset is completed, the embodiment can return the pan-tilt to the proper position by executing the joint angle centering operation, so as to enter the standby state; on the other hand, the phenomena of cradle head shaking or random throwing and the like caused by the sudden change of the attitude can be avoided when the cradle head is switched back to the attitude stability augmentation mode subsequently.
In step 414, it is determined whether the current joint angle is less than a preset angle value and a preset time period has elapsed.
In this embodiment, whether the posture of the pan/tilt head is stable is determined based on the elapsed time. Similarly to step 404, here, step 414 may also determine that the attitude of the pan/tilt head has stabilized when it is determined that 0.3f has elapsed in the case where the absolute value of the current joint angle is less than 0.2 f. Where f represents floating point (float) type data, the unit is negligible.
In step 415, the control mode of the pan/tilt head is switched to the attitude stabilization mode, and the target attitude is assigned as the attitude measurement value corresponding to the current joint angle.
In this embodiment, after the operation in the joint angle return is performed, the posture of the pan/tilt is waited for to be stable, and then when the pan/tilt is switched to the posture stability enhancement mode, the pan/tilt is controlled by taking the measurement posture corresponding to the current joint angle as the target posture, so that the phenomena of pan/tilt shaking or random swinging and the like caused by the posture mutation can be avoided.
In step 416, a gesture centering operation is performed.
After the calibration of the inertial sensors and joint motors is completed, the method of the present embodiment further includes the step of performing a pose centering operation. For example, bringing the yaw axis of the head back into alignment with the base head, both pitch and roll back into horizontal position; in other words, the yaw, pitch and roll of the pan/tilt are all brought back to 0 °. After the calibration of the joint motor is performed, the posture centering is performed to prevent the posture deviation caused by the update of the joint angle offset.
It should be noted that although the various steps of the methods of the present disclosure are depicted in the drawings in a particular order, this does not require or imply that these steps must be performed in this particular order, or that all of the depicted steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc. Additionally, it will also be readily appreciated that the steps may be performed synchronously or asynchronously, e.g., among multiple modules/processes/threads.
Embodiments of the present disclosure further provide a pan and tilt head.
Fig. 5 is a schematic view of a pan-tilt structure according to an embodiment of the present disclosure. As shown in fig. 5, the pan/tilt head of the present embodiment includes a sensor calibration module 510, a motor calibration module 520, and a control module 530.
The sensor calibration module 510 is configured to measure and update the drift value of the inertial sensor in response to determining that the state of the pan/tilt head satisfies a predetermined condition.
The motor calibration module 520 is configured to perform a joint angle centering operation after calibrating the joint angle offset of the joint motor.
The control module 530 is configured to control the target attitude of the pan/tilt head based on the attitude measurement corresponding to the current joint angle.
According to the cloud platform that this disclosed embodiment provided, after accomplishing the calibration of inertial sensor and joint angle, the target gesture of cloud platform is controlled based on the joint angle after the operation in returning, can avoid the gesture sudden change of cloud platform, and then prevents the shake of cloud platform and phenomenon such as indiscriminate throwing.
Fig. 6 is a schematic view of a pan-tilt structure according to another embodiment of the present disclosure. As shown in fig. 6, on the basis of the embodiment of fig. 5, the pan/tilt head of the present embodiment further includes a state detection module 540 and a mode switching module 550.
The state detection module 540 is configured to detect whether the state of the cradle head satisfies a preset condition, and further includes a self-detection unit 541, a horizontal detection unit 542, and a stable detection unit 543.
The self-checking unit 541 is configured to determine whether the pan/tilt head is capable of entering the attitude augmentation mode. In the attitude augmentation mode, the attitude of the pan/tilt head is controlled based on at least external attitude data and measurement data of the inertial sensor.
The level detection unit 542 is arranged to determine whether the head is level. In one embodiment, the level detecting unit 542 determines whether an included angle between the pan/tilt head and the horizontal plane is smaller than a preset threshold value based on the external attitude data, and if so, determines that the pan/tilt head is horizontal. For example, when the pan/tilt head is mounted on the drone, the level detection unit 542 may calculate an angle between the pan/tilt head and the horizontal plane based on flight control data received from the drone.
The stabilization detection unit 543 is configured to determine whether the attitude of the pan/tilt head is stable. In one embodiment, the stabilization detecting unit 543 is configured to determine whether the attitude of the pan/tilt head is stable based on the length of time elapsed. When the current joint angle is smaller than the preset angle value, and it is determined that the preset time period has elapsed, the stability detection unit 543 may determine that the posture of the cradle head is stable.
The mode switching module 550 is configured to switch the control mode of the control module 530 between the joint angle mode and the posture mode. In one embodiment, the pose modes further include a pose stability augmentation mode, a false pose mode, and a pose invalidation mode.
In one embodiment, the detecting module 540 for detecting whether the state of the pan/tilt head satisfies the preset condition includes notifying the mode switching module 550 to switch the pan/tilt head to the joint angle mode, and executing the joint angle centering operation; after the stability detection unit 543 determines that the posture of the pan/tilt is stable, the mode switching module 550 switches the pan/tilt to the posture mode. In the above joint angle mode, the attitude of the pan/tilt head is controlled based on the joint angle of the joint motor. In the attitude mode described above, the attitude of the pan/tilt head is controlled based on at least the measurement data of the inertial sensor.
In one embodiment, the inertial sensor of the pan/tilt head comprises a gyroscope. Accordingly, the sensor calibration module 510 is configured to measure the integral value of the gyroscope within a predetermined time period while the pan/tilt head remains stationary, and then obtain and record the drift value of the gyroscope per unit time based on the measurement result of the integral value.
In one embodiment, the motor calibration module 520 is configured to update the joint angle offset based on a hall value of the joint motor when the pan/tilt head is rotated to a specified euler angle. For example, the update process of joint angle offset may include: rotating the Euler angle of the holder from 0 degree to n degrees, and recording a first Hall value of the joint motor; rotating the Euler angle of the holder from n degrees to-n degrees, and recording a second Hall value of the joint motor; rotating the Euler angle of the holder from-n degrees to 0 degrees, and recording a third Hall value of the joint motor; and updating the joint angle offset based on the first to third hall values, where n is a positive integer less than 180.
In one embodiment, the process of the control module 530 controlling the target attitude of the pan/tilt based on the current joint angle may include switching the pan/tilt to the attitude stabilization mode by the mode switching module 550 and assigning the target attitude as an attitude measurement corresponding to the current joint angle.
In one embodiment, the control module 530 is further configured to perform a pose centering operation after controlling the pan-tilt target pose based on the current joint angle.
In one embodiment, the joint angle centering operation performed by the control module 530 includes returning the joint motor to a state in which the joint angle is zero in the joint angle mode.
In one embodiment, the control module 530 operating in the executed attitude loop includes, in the attitude mode, returning each of yaw, pitch, and roll of the pan/tilt to 0 °.
According to the cloud platform that this disclosed embodiment provided, can realize following beneficial effect at least: by limiting that the cradle head calibration can be carried out only when the cradle head can enter the attitude stability augmentation mode, the problem that the cradle head enters the calibration but cannot be controlled, so that the cradle head can be always stuck in the calibration and cannot normally operate can be avoided; the calibration is carried out when the holder is determined to be in the horizontal state, so that the problem of calibration data error caused by non-standard operation of a user can be avoided; the calibration is started after the posture of the holder is stabilized, so that the problem of calibration error possibly caused by recording calibration data when the posture is not stabilized can be avoided; after the calibration of the inertial sensor and the joint angle is finished, the target attitude of the holder is controlled based on the joint angle after the centering operation, so that the attitude mutation of the holder can be avoided, and the phenomena of shaking, random throwing and the like of the holder are prevented; after the calibration of the joint motor is performed, the posture centering is performed to prevent the posture deviation caused by the update of the joint angle offset.
It should be noted that the foregoing explanation of the embodiment of the calibration method for the pan/tilt head is also applicable to the pan/tilt head of this embodiment, and is not repeated here.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units. The components shown as modules or units may or may not be physical units, i.e. may be located in one place or may be distributed over several units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the wood-disclosed scheme. One of ordinary skill in the art can understand and implement it without inventive effort.
In this exemplary embodiment, a computer-readable storage medium is also provided, on which a computer program is stored, which when executed by a processor, can implement the steps of the calibration method of the pan/tilt head in any of the above embodiments. For specific steps, reference may be made to the detailed description of each step in any of the embodiments of fig. 1 to fig. 4, which is not repeated herein. The computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
In this example embodiment, there is also provided a head comprising a processor and a memory for storing executable instructions of the processor. Wherein the processor is configured to perform the steps of the calibration method of the pan/tilt head in any of the above embodiments via execution of the executable instructions. The steps of the calibration method of the pan/tilt head may refer to the detailed description in any of the embodiments of fig. 1 to 4, and are not repeated herein.
In this example embodiment, still provide an unmanned aerial vehicle, include as above this disclosed embodiment the cloud platform.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the above method according to the embodiments of the present disclosure.
FIG. 7 shows a schematic diagram of a computing device 700 in accordance with example embodiments of the present disclosure. Referring to fig. 7, the apparatus 700 includes a processing component 701 that further includes one or more processors and memory resources, represented by memory 702, for storing instructions, such as applications, that are executable by the processing component 701. The application programs stored in memory 702 may include one or more modules that each correspond to a set of instructions. Further, the processing component 701 is configured to execute instructions to perform the communication method described above.
The apparatus 700 may also include a power component 703 configured to perform power management of the apparatus 700, a wired or wireless network interface 704 configured to connect the apparatus 700 to a network, and an input-output (I/O) interface 705. The apparatus 700 may operate based on an operating system stored in the memory 702, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, or the like.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
While the present disclosure has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present disclosure may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.
Claims (30)
1. A method of calibrating a pan-tilt head, the pan-tilt head comprising an inertial sensor and an articulation motor, the method comprising:
measuring and updating a drift value of the inertial sensor in response to determining that the state of the holder meets a preset condition;
after the joint angle deviation of the joint motor is calibrated, executing joint angle centering operation; and
controlling a target pose of the pan/tilt head based on a current joint angle.
2. The method of claim 1, wherein the determining that the state of the pan/tilt head satisfies a preset condition comprises:
determining that the holder can enter an attitude stability augmentation mode; in the attitude augmentation mode, an attitude of the pan/tilt head is controlled based on at least external attitude data and measurement data of the inertial sensor.
3. The method according to claim 1 or 2, wherein the determining that the state of the pan/tilt head satisfies a preset condition further comprises:
determining that the pan-tilt head is horizontal.
4. The method of claim 3, wherein said determining that said pan/tilt head is horizontal comprises:
and when the included angle between the holder and the horizontal plane is determined to be smaller than a preset threshold value based on external attitude data, determining that the holder is horizontal.
5. The method of claim 2 or 4, wherein the pan-tilt head is mounted on a drone, the method further comprising:
receiving the external pose data from the drone.
6. The method according to claim 2, wherein, when said determining that the state of the pan/tilt head satisfies a preset condition, the method further comprises:
performing a joint angulation centering operation; and
and after the attitude of the cradle head is stable, switching the control mode of the cradle head into an attitude mode, wherein in the attitude mode, the attitude of the cradle head is controlled at least based on the measurement data of the inertial sensor.
7. The method of claim 1 or 6, wherein the performing a joint angulation procedure comprises:
switching a control mode of the pan/tilt head to a joint angle mode in which an attitude of the pan/tilt head is controlled based on a joint angle of the joint motor; and
and enabling the joint motor to return to a state that the joint angle is zero.
8. The method of claim 1, wherein the inertial sensor comprises a gyroscope, and said measuring and updating a drift value of the inertial sensor comprises:
keeping the tripod head still, and measuring the integral value of the gyroscope in a preset time period; and
based on the measurement result of the integrated value, a drift value of the gyroscope in unit time is obtained and recorded.
9. The method of claim 1, wherein the calibrating the joint angle offset of the joint motor comprises:
updating the joint angle offset according to a Hall value of the joint motor when the pan/tilt head is rotated to a specified Euler angle.
10. The method of claim 9, wherein said updating the joint angle offset based on the hall value of the joint motor when rotating the pan/tilt head to a specified euler angle comprises:
rotating the Euler angle of the holder from 0 degree to n degrees, and recording a first Hall value of the joint motor;
rotating the Euler angle of the holder from n degrees to-n degrees, and recording a second Hall value of the joint motor; and
updating the joint angle offset based on the first Hall value and the second Hall value,
wherein n is a positive integer less than 180.
11. The method of claim 1, wherein said controlling the target pose of the pan/tilt head based on the current joint angle comprises:
switching a control mode of the pan/tilt head to an attitude stabilization increasing mode in which an attitude of the pan/tilt head is controlled based on at least external attitude data and measurement data of the inertial sensor; and
and assigning the target attitude to be an attitude measurement value corresponding to the current joint angle.
12. The method of claim 1 or 11, wherein after said controlling the target pose of the pan/tilt head based on the current joint angle, the method further comprises: and executing gesture centering operation.
13. The method of claim 12, wherein said performing a gestural centering operation comprises:
and enabling the yaw angle, the pitch angle and the roll angle of the tripod head to return to 0 degree.
14. The method of claim 1, further comprising:
setting a counter with an initial value of 0;
after the joint angle deviation of the joint motor is calibrated, controlling the numerical value of the counter to be increased by one and comparing with the preset times;
when the counter value reaches the preset times, executing the joint angle centering operation;
and when the numerical value of the counter does not reach the preset times, returning to the measurement and updating the drift value of the inertial sensor.
15. A head, comprising:
one or more processors;
a memory storing instructions executable by the processor;
wherein the one or more processors are configured to perform a method of calibration of a pan/tilt head comprising an inertial sensor and an articulation motor, the one or more processors being configured to:
measuring and updating a drift value of the inertial sensor in response to determining that the state of the holder meets a preset condition;
after the joint angle deviation of the joint motor is calibrated, executing joint angle centering operation; and
controlling a target pose of the pan/tilt head based on a current joint angle.
16. A head according to claim 15, wherein said processor configured to determine that the state of said head satisfies a preset condition is configured to:
determining that the holder can enter an attitude stability augmentation mode; in the attitude augmentation mode, an attitude of the pan/tilt head is controlled based on at least external attitude data and measurement data of the inertial sensor.
17. A head according to claim 15 or 16, wherein said processor configured to determine that the state of said head satisfies a preset condition is further configured to:
determining that the pan-tilt head is horizontal.
18. A head according to claim 17, wherein said processor configured to determine that said head is horizontal is configured to:
and when the included angle between the holder and the horizontal plane is determined to be smaller than a preset threshold value based on external attitude data, determining that the holder is horizontal.
19. A head according to claim 16 or 18, wherein the head is mounted on a drone, the processor being further configured to:
receiving the external pose data from the drone.
20. A head according to claim 16, wherein, in said determining that the state of the head satisfies a preset condition, said processor is further configured to:
performing a joint angulation centering operation; and
and after the attitude of the cradle head is stable, switching the control mode of the cradle head into an attitude mode, wherein in the attitude mode, the attitude of the cradle head is controlled at least based on the measurement data of the inertial sensor.
21. A head according to claim 15 or 20, wherein said processor configured to perform an articulation return operation is configured to:
switching a control mode of the pan/tilt head to a joint angle mode in which an attitude of the pan/tilt head is controlled based on a joint angle of the joint motor; and
and enabling the joint motor to return to a state that the joint angle is zero.
22. A head as claimed in claim 15, wherein the inertial sensor comprises a gyroscope, the processor configured to measure and update the drift value of the inertial sensor being configured to:
keeping the tripod head still, and measuring the integral value of the gyroscope in a preset time period; and
based on the measurement result of the integrated value, a drift value of the gyroscope in unit time is obtained and recorded.
23. A head according to claim 15, wherein said processor configured to calibrate the joint angle offset of said joint motor is configured to:
updating the joint angle offset according to a Hall value of the joint motor when the pan/tilt head is rotated to a specified Euler angle.
24. A head according to claim 23, wherein said processor configured to update said joint angle offset in dependence on the hall value of said joint motor when rotating said head to a specified euler angle is configured to:
rotating the Euler angle of the holder from 0 degree to n degrees, and recording a first Hall value of the joint motor;
rotating the Euler angle of the holder from n degrees to-n degrees, and recording a second Hall value of the joint motor; and
updating the joint angle offset based on the first Hall value and the second Hall value,
wherein n is a positive integer less than 180.
25. A head according to claim 15, wherein the processor configured to control the target attitude of the head based on the current joint angle is configured to:
switching a control mode of the pan/tilt head to an attitude stabilization increasing mode in which an attitude of the pan/tilt head is controlled based on at least external attitude data and measurement data of the inertial sensor; and
and assigning the target attitude to be an attitude measurement value corresponding to the current joint angle.
26. A head according to claim 15 or 25, wherein, after said controlling the target attitude of the head based on the current joint angle, the processor is further configured to: and executing gesture centering operation.
27. The head of claim 26, wherein the processor configured to perform a gestural return-to-center operation is configured to:
and enabling the yaw angle, the pitch angle and the roll angle of the tripod head to return to 0 degree.
28. A head as claimed in claim 15, wherein the processor is further configured to:
setting a counter with an initial value of 0;
after the joint angle deviation of the joint motor is calibrated, controlling the numerical value of the counter to be increased by one and comparing with the preset times;
when the counter value reaches the preset times, executing the joint angle centering operation;
and when the numerical value of the counter does not reach the preset times, returning to the measurement and updating the drift value of the inertial sensor.
29. A drone comprising a head as claimed in any one of claims 15 to 28.
30. A storage medium storing a computer program which, when executed by a processor of a computer, causes the computer to perform the method of any one of claims 1-14.
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| CN111811794B (en) * | 2020-06-18 | 2022-05-20 | 浙江大华技术股份有限公司 | Cloud deck self-checking method and device, computing equipment and storage medium |
| CN113280806A (en) * | 2021-05-12 | 2021-08-20 | 上海智能网联汽车技术中心有限公司 | Intelligent holder suitable for posture adjustment of vehicle-road cooperative networking equipment and adjusting method |
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